A framework to develop and test a model-free motion control system for a forestry crane

Abstract

This article has the objective of presenting our method to develop and test a motion control system for a heavy-duty hydraulically actuated manipulator, which is part of a newly developed prototype featuring a fully-autonomous unmanned forestry machine. This control algorithm is based on functional analysis and differential algebra, under the concepts of a new type of approach known as model-free intelligent PID control (iPID). As it can be unsafe to test this form of control directly on real hardware, our main contribution is to introduce a framework for developing and testing control software. This framework incorporates a desktop-size mockup crane equipped with comparable hardware as the real one, which we design and manufactured using 3D-printing. This downscaled mechatronic system allows to safely test the implementation of control software in real-time hardware directly on our desks, prior to the actual testing on the real machine. The results demonstrate that this development framework is useful to safely test control software for heavy-duty systems, and it helped us present the first experiments with the world’s first unmanned forestry machine capable of performing fully autonomous forestry tasks.